Added new generator function for maybe types

source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.cpp

@@ -120,6 +120,25 @@ namespace armarx::aron::codegenerator::cpp
         }
     }
 
+    std::string Generator::getFullCppTypenameGenerator() const
+    {
+        switch (getType().getMaybe())
+        {
+            case type::Maybe::eNone:
+                return getCoreCppTypename();
+            case type::Maybe::eOptional:
+                return "std::make_optional<" + getCoreCppTypename() + ">";
+            case type::Maybe::eRawPointer:
+                return getCoreCppTypename() + "*";
+            case type::Maybe::eSharedPointer:
+                return "std::make_shared<" + getCoreCppTypename() + ">";
+            case type::Maybe::eUniquePointer:
+                return "std::make_unique<" + getCoreCppTypename() + ">";
+            default:
+                throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Received unknown maybe enum", std::to_string((int) getType().getMaybe()), getType().getPath());
+        }
+    }
+
     CppCtorPtr Generator::toCtor(const std::string& name) const
     {
         CppCtorPtr c = CppCtorPtr(new CppCtor(name + "()"));

source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/Generator.h

@@ -108,6 +108,7 @@ namespace armarx::aron::codegenerator::cpp
         // public member methods
         std::string getCoreCppTypename() const;
         std::string getFullCppTypename() const;
+        std::string getFullCppTypenameGenerator() const;
 
         CppMethodPtr toSpecializedDataWriterMethod(const WriterInfo& info) const;
         CppMethodPtr toSpecializedDataReaderMethod(const ReaderInfo& info) const;

source/RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp

@@ -55,7 +55,7 @@ namespace armarx::aron::codegenerator::cpp::generator
     CppBlockPtr PointCloud::getResetSoftBlock(const std::string& cppAccessor) const
     {
         CppBlockPtr block_if_data = std::make_shared<CppBlock>();
-        block_if_data->addLine(cppAccessor + " = " + getFullCppTypename() + "(" + cppAccessor + nextEl() + "width, " + cppAccessor + nextEl() + "height);");
+        block_if_data->addLine(cppAccessor + " = " + getFullCppTypenameGenerator() + "(" + cppAccessor + nextEl() + "width, " + cppAccessor + nextEl() + "height);");
         return this->resolveMaybeResetSoftBlock(block_if_data, cppAccessor);
     }
 

source/RobotAPI/libraries/diffik/CompositeDiffIK.h

@@ -60,6 +60,7 @@ namespace armarx
         public:
             virtual void init(Parameters& params) = 0;
             virtual Eigen::VectorXf getGradient(Parameters& params) = 0;
+            virtual ~NullspaceGradient() = default;
             float kP = 1;
         };
         typedef std::shared_ptr<class NullspaceGradient> NullspaceGradientPtr;